In a medium saucepan, combine the millet, water or milk, and a pinch of salt. Bring to a boil, then reduce the heat to low, cover, and simmer for about 15-20 minutes, or until the millet is tender and the liquid has been absorbed. Stir occasionally to prevent sticking and add more liquid if needed.
Heat the coconut oil or butter in a skillet over medium heat. Add the sliced bananas and sprinkle with brown sugar or drizzle with maple syrup. Cook for 2-3 minutes on each side, or until the bananas are golden and caramelized. Remove from heat and set aside.
In the same skillet, toast the chopped pecans over medium heat for about 3-5 minutes, stirring frequently, until they are fragrant and lightly browned. Be careful not to burn them.
Divide the cooked millet porridge between bowls. Top with the caramelized bananas, toasted pecans, and a dash of cinnamon if using. Drizzle with additional honey or maple syrup for added sweetness, if desired.